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Feature-based visual servoing of an eye-in-hand robot with improved tracking performance

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2 Author(s)
Jang, W. ; Dept. of Electr. Eng., KAIST, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Bien, Z.

A method is presented for using image features in servoing a robot manipulator. Specifically, the concept of a feature is mathematically defined, and the differential relationship between the robot motion and feature vector is derived in terms of a feature Jacobian matrix and its generalized inverse. The feature-based PID (proportional-integral-derivative) controller is established with three scalar gains and an n×n matrix. By means of various examples, the method of feature-based servoing of a robot proposed is proved to be very effective for conducting object-oriented robotic tasks

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

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